Script that launches a complete twistbot tmux environment

rc.local

# let us run the script on startup of the station
# this files lays under /etc/rc.local and is executed on boot of the system

su tbot -c 'source /home/tbot/.bashrc && /home/tbot/ros/twistbot-tmux-init.bash'

twistbot_tmux_start.bash

#!/bin/bash
# var for session name (to avoid repeated occurences)
sn=twistbot

cd
tmux new-session -s "$sn" -d -n "core"
tmux send-keys -t "$sn:core" C-z 'roslaunch twistbot_core twistbot_core.launch' Enter

sleep 5  # gives the core time to come along

tmux new-window -t "$sn:2" -n "twistbot-main"
tmux split-window -v -t "$sn:twistbot-main"  # this window will listen for the start topic
tmux send-keys -t "$sn:twistbot-main.1" C-z 'while true; do rostopic echo -n 1 /move_base_simple/goal && tmux send-keys -t "twistbot:twistbot-main.0" "roslaunch twistbot_start twistbot.launch" Enter; done' Enter
tmux split-window -v -t "$sn:twistbot-main"  # this window will listen to the kill topic
tmux send-keys -t "$sn:twistbot-main.2" C-z 'while true; do rostopic echo -n 1 /kill_twistbot_start && tmux send-keys -t "twistbot:twistbot-main.0" C-c; done' Enter

tmux new-window -t "$sn:3" -n "waypoints"
tmux send-keys -t "$sn:waypoints" C-z 'rosrun waypoints waypoint_controller.py' Enter

tmux new-window -t "$sn:4" -n "bssid-switcher"
tmux send-keys -t "$sn:bssid-switcher" C-z 'roscd router_tools/scripts/client && python remote_switcher.py' Enter

Did you really impement the start of the navigation stack in tmux? In my opinion it will produce a lot of errors....

Why would it? What exactly do you mean? Starting it in tmux, or the fact that the navigation occasionally crashes?